Određivanje visine i orijentacije mobilne platforme upotrebom optičkih senzora blizine na principu mjerenja vremena leta

master's thesis

• Title (english): Determination of Height and Orientation of Mobile Platform Using Optical Time-of-flight Sensors
• Author: Tomislav Bačurin
• Mentor: Darko Vasić (mentor)
• Committee member: Darko Vasić (predsjednik povjerenstva)
• Committee member: Vedran Bilas (član povjerenstva)
• Committee member: Dinko Oletić (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2017-07-19, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Computing
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

Senzori koji rade na principu mjerenja vremena leta imaju veliku primjenu za detekciju prepreka i određivanje udaljenosti. Princip rada se temelji na izračunu vremena leta fotona od senzora do prepreke i natrag pritom koristeći fazu reflektiranog signala. Time je smanjen utjecaj reflektivnosti prepreke i šum signala, što pridonosi boljoj preciznosti. U ovome radu je razvijen sustav koji se sastoji od upravljačke jedinice Arduino Uno, dva TOF senzora VL6180X i tiskana pločica koja ih povezuje. Inicijalizacija oba senzora i postupak mjerenja udaljenosti se odrađuje unutar programskog okruženja ADE. Primljeni podaci se obrađuju unutar programskog okruženja Matlab. Ako su detektirane prepreke u mjerenjima oba signala, autokorelacijom se određuje vremensko kašnjenje između dva signala iz čega se mogu izračunati brzina i put. Funkcionalnost sustava je ispitana kroz tri vrste mjerenja: mjerenjem udaljenosti pod određenim nagibom, mjerenjem udaljenosti kretanjem senzora iznad bijele podloge sa preprekama te kretanjem senzora iznad posude sa zemljom.

Abstract (english)

Time-of-Flight sensors have great use in object detection and distance determination. Their working principle is based on calculation of photon time of flight from sensor to obstacle and back using phase of reflected signal. With that principle influence of obstacle reflectivity and signal noise have been reduced, which contributes to better precision. This paper is based on development of system which consist of Arduino Uno control unit, two VL6180X TOF sensors and printed circuit board which connects them. Initialization of both sensors and distance measurement are completed in ADE development environment. Received data is processed in Matlab development environment. If there are obstacle detected in measurement of both sensors, speed and distance can be calculated by using autocorrelation of two signals to determine time delay. System functionality was tested through three types of measurement: measuring distance under a certain angle, measuring distance by moving sensor above white surface and by moving sensor above container filled with soil.

• Keywords: princip mjerenja vremena leta; foton; VL6180X senzor; mjerenje udaljenosti; autokorelacija
• Keywords (english): time of flight principle; photon; VL6180X sensor; distance measurement; autocorrelation
• Language: croatian
• URN:NBN: urn:nbn:hr:168:490596
• Study programme: Title: Electrical Engineering and Information Technology; Study programme type: university; Study level: graduate; Academic / professional title: magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije (magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2019-03-13 18:43:28